Research Information System
Turkish Journal of Electrical Engineering and Computer Sciences, vol.33, no.4, pp.443-459, 2025 (SCI-Expanded)
Over the last decade, the number of studies in the field of magnetic micro robots has significantly increased due to expectations of performing microsurgery, drug delivery, and similar medical procedures. Magnetic microrobots have advantages over other types of microrobots in terms of having independent designs for rotor and stator structures. Magnetic microrobots can be controlled by magnetic fields and can be programmed to move in certain directions and to perform various functions. This paper implements the computer-aided real-time control of a single-arm micro-pendulum structure to (eventually) perform cell manipulation tasks. The mechanical structure, mathematical model, control circuit, and control algorithm of the system are explained and detailed results are presented. The pendulum mechanism consists of a magnetic rod that acts as a rotor and two independent coil windings that act as a stator. The pendulum rod is a 37 mm long magnetic arm mechanism that was fabricated using 3D printing technology. Rotor position and speed can be controlled by varying the currents in the stator windings. The control system consists of a 60 FPS camera in the feedback loop which is used to measure the pendulum angle, the electronic control circuit and the Proportional– Integral–Derivative controller (PID). The results obtained show that the magnetic pendulum system can be controlled in the range of pendulum angles ±10o with a control system capable of producing 12V voltage and 3A current.